Visual Auto-landing of an Autonomous Aircraft
48
0
0
Texte intégral
(2) INSTITUT NATIONAL DE RECHERCHE EN INFORMATIQUE ET EN AUTOMATIQUE. Visual Auto-landing of an Autonomous Aircraft Patrick Rives — José Raul Azinheira. N° 4606 Novembre 2002. ISSN 0249-6399. ISRN INRIA/RR--4606--FR+ENG. THÈME 4. apport de recherche.
(3)
(4)
(5) ! "# $ %&'% ( )+*,.-0/214365/87:9<;=?>A@CB:;0DE5*CFGIHKJL/2MON9</P-.*RQ SITVUWYX[Z]r \_ X ops?^?otwy`afpW xpU0hmWYbVz{ceXX0d4fkokfg`i|{uhLuhLjdmWYxpXX lVfkcihmXvnlnX0fg`io WY`eopdqfp`ahmj }~dqllhLxtf r X[xgX0uTVX0xguTVXjCZLLm
(6) \ ~h4LXW VxpXqLL\ZmZ]ldmmX0o gfu`ihmhLj<jfp0xgChm4Xc¨Vf{dm'mlVmXlV X0caj`iX SI|tr ^nTS¡fg`aho 2xpdq¢£X0j`elothLdqCxtbnhLfkfgd<hm`e¤AokjVdmhLfpj TW]r X hLfgbotTVboIX[W]dq|{`aW!uxgdqudmxgxgxpdqX+s©w¥f0hmª xpyhmz{X0hLuxpf[ 8|{r +hmjV}kX|{¦`aj^?fphmTVlVXYT`ad]|t~j<fp}`alChmlVcaxg`ahqo¤yz{X(8uhLf~xIhm<O`eopu`ihmhLcajncadm§dmhLopxgX dqr WYdmj«h opr X bVX0r jVc~<`i¬`a`eoopX br dqdqjc±WYdmucih s?hmr ²j<XX fpcar¨xg`ihmj³ c§ª¥dmSI8xopTVdqX WYX r uXhmhm'jRj<hmfpxgfpxgEThmXca`ecioX0ux cer dmr XogX0¬otop`ejV`iuLX dmjr c~`adqdmo~cij fpd Xr r xgjdqfpTdqlVfpXfp`aX m?r XK`aop8`ahLhmx~Xjnf{®hmX0dmfpXTopj X rdqllh<dmlVbnotxp`ifph<fphm`admhm§ucejVTVdq§jX(oIr dL`idqotjXj r r hqdmopk`ij W fgr TVbVXca`iW!dq¯+fpdm`ahm±mjX° o xgX0X04opdqbVcabcifgd4o!fg`idmhLxpjXhmlV±xgfpX0TopX[Xj<f{fpX rh!dq`ajRllVhmxpx h<r dmXuxYTVX(fgoh´ª 4dmci` r d4fgXfpTVXlxphLlh<otX r ophmcabnfp`ahmjo!dmj r dqcacih4µ8hmxd¶uxg`ifp`eudqc WY·h ¸<r¹:X0ºgci» `ajV¼ 4³ ½xgmhmb¯~o{f~jVuW!hmj<dqfpjxgjVhmX c r IX0xp`edqc°yXTV`eucaX¯° ³ °`eop`ihLjn§dmopX r uhLjLfgxphLc ³ dqbnfghq®cadmj r `ajV ³mr s<jdqWY`au. ¾AÐ ¿8¿©Ë.ÀÏ2Á£Ì2È ¿©Ì§ÂÄÑ0̧Å+Ã0ÅÃ0Æ(Ñ.Ç.ÆqÈÊÉ'Ò{ÓPÂÈÍÅËÓÌ2Ô£ÈÍÆmÕ{ÅÖ{ÎÍË.È Ï ÈÍÖ{Å'×:¿8ØOÙÚCÛ£Üg¿PÃ0ÔÄÝaÞ<ÈÍϧßqÅË.Ë.Òpà. Unité de recherche INRIA Sophia Antipolis 2004, route des Lucioles, BP 93, 06902 Sophia Antipolis Cedex (France) Téléphone : +33 4 92 38 77 77 — Télécopie : +33 4 92 38 77 65.
(7) $£k%%± ! "#[! % ±k% ± ~" ~ ~ r r r r r ce
(8) 6 dq28C 73hm$x 1d49fg4#`i ;hL j:<%!,= 9!"X 4 xr XdqX]j<lfgl¢£xphLX `eotxtCfciX]hmX0jVlVotjf xghqXmcez{ª dXfots?X j<!"fp#fpxT %d.$ U04oprdqX `aX cc'ubÄ& hm|{ +WYfpx}kld.|{dm4$xpdqX `acyXr f[xX(cibndqX vca`a(odq xplhLlVbVdqxpljhnX uo TVr ciX(XX!o u0r d &hmdmj<xgogfpXopx%X)mxgca<b¶X `eoglVr otX0xgX hqW]c*z{&+XX0fj< -,/f~.1<X0*`eop0'u23bVhL05Xc 4c rr Pl& dqh<ftotfp`iX0fp`axphmxgjV`eop§ogdqdLLotX+X rdqbVXfpf hmW!`aW!dqdqfp`@L>LXb®Xmªydmop¢±X d r ¤r `BdmAlVlVubVca?` ci><f/b 0r X0bo lVdmr b«xghmurhLciU0jLW]fgx X[)Lcix%X 0opr ` r & bVX+j lVxgr `axj)LujV`alXdqd caX0WYxp`aXX0j jLf r r dmdmjjo oIbcajVXXW]lVh Tr dmU0opciXX s<jdqWY?` ><bVX]8hLxtfgXWYXj<fjVhmj´ca`i/j (dq`axpXYXfuhmbVlBc b %x )mjVXY}+D CF} EHG¯I° ><bV`¥lCXbnf dmW]X0jVXx J r X0o`ijotfgdmV`aci`if (o~cahmxo ><+b & hmjcaX xpX0hLbucaX d.LX0u r X(o~`ajn8hmxgW!d4fp`ahmjok?`aopbVXcacaX0o0ªI¢±X0o+dmoplX(ufgoWYh r ca` ogop`ad4W fg`ibVhLcejd4o+fg`iXhLfj ots?j<fpTVU(otX r X0o[uhmj<fpxghmcaXbVxoklChmbVx[caX0o r XbVvEdqlVlVxghnuTVX0oophmj<f+lVx%0opXj<f%0o+XfuhmWYldmx(o~X0j W!Kdq¼ fp(@` >L bº M X L ³ uhLj< fpxghmcaogXotbVX0xkxp?¢ `eNopop} XWYXj<f'<`eopbVXc ³ WYh r caX r s?jdmWY?` ><bVX r X r %x )mjVX[ d 0xp`aXj ³ dqftfgXxgxp`eopogdqLXdqbVfphq.
(9) @.12= 23054B , , 4 #,
(10) 230 4 , 4 4 2 . ! "0 . %!&A ceSIdqTj Xr SI`iW!jTV]Xdq`acehmj!dqj hmdmr nj`az{jVX(dm ubnfg`efp`ioLhLX~fpjVTVhmhqX+WY¨WYfghLTVbhmXoIxgXlVdqxg`ar X0xkX0opmWYXXj<dmTfAj `a'ur cihm`aX[jVxgb op`e`ioAj`iL fpTLTVfgf'XTVlVotXTX(`adqdLWYxotuX dmT ³mCX(8hLohqx'fglTuxphmh4`aj<j!?fp` fprxgX0hmX xpcr W!o{?fgoxgsdqhqfp£dqXjxgLX `idq><X(`abVoOxp`aC8xphmhmX xAxgr jVfpdmTVXu0X[uudmdqbVWYbVxdmfpXhmuxW!s dVªdqdqjfp`er u jotfgX0dqufpX(X0opW]ogdqX0xgj<sKf¤]xphL`eVoYbfpotTVfpXjVX(Popdmo0uªf!fgTjVhqd4f!fgTVfgXTVxXuTxgXdmcaxgXdL4udqfgj<Xf!xg`aotlCfphL`euop` hqfg`iyhLfgjRTVXY4dmcaxpdm`ej dqrV`acajVX0o!
(11) dm PlxpXdqxpxgfpXcasYced4z{fgb`iLotXfp`i8fgs?h«`ijVd´cifphnTuX dmc~lVxgmXxg?hm`abhmj br o 8fgxhmdqbWYuT X r ³ h4`ajkopj` r dmX!j hmr kfpkTVX0TVjK`auTÄxghmcafgcaTV`ijVX]LhmXjKTV`efguTVcaX!XTmdmxghmobVfpj hr Cª X!fgdmmX0jÄogd48X0cis
(12) 8xghmWfgTVX s?`ajVuhLj r `ifp`ahmjÄfghfpTVX `adLjoYd]d´SILTVopxpXX hLjbVlVotj hLxgrhmx VxgkcaXX`iceW fpd4T fg`iW!Ld X~rd.sX8x><dqCbWYX d4fgX uXK³ hm8juhmTopxI` dqr kxXdmTVxguX `efgur XTxgdL`ad otokfp?fp`euT`eoto X `a³ hmXfpjKv?Tfgotd4xpX0f!X0jW]W!othLX]d.xs«u 2dLdqotjKX Xdqhmb`aAxpopCXd!hm8bjVxgcIjVX0X+X 8hmr u0xYdqhmWYfp¥TXlXKxX0dLxtl¤¥8xpX(W!X(uuf+d.`eots!lXd4fplCX[TEhLxgopfpX` xfgLdm`idmhLuxjV?r `i`ajjVX r xgXced4| fgjK`iLfpXX0casYxpW!fph]oIhmfpTOXuhmmj<xgfphmxgbVhmj c¨r otfpª xd4fpX0msYf{'hYXv?fpxgXWYX[hmlnfg`ihLjokdqxgXd.4dq`acadmVciX lVbdxgop¬hLX rdmxgotufYTfphij ophmuTVcahLXbnjcafgl ot`ihL`eot8j fghm³o x]xg`ifpXj TV8XXuxghLxgceXjdqr otj ` r r dL`iX0o jVxpÄ`afgjVTV
(13) lVXTfpldmTVoph<XXot`i`afp`aWYj `ahmdmjVhLm§x Xr dLXhmotx]bnX fgrfplVh´bn?mf`aopXbdmf!dmo+d´cIz{bopCXotXxgffpmfphLdqX`ijVx!jhmX(fpo{TVhmfgX0`ixYx]W!xgopdqX0XfpujXKhLotjhLhqotx]fpxgfgopbTVluXX(fgu`im`ihL¬X0j uTVdm`adqucilncacis X lh<ot`ifp`ahmj ³ dmokuhmWYldqxgX r fph!dYlVxgXfgXj r X r cedqj r `ij]ld4fpT 8xpd+xpXhLop8XX0W xguXhmfpjj Tur XX rothL`ifpciLbVh]TLfpfp`afhmTjuXhL³ `ij<opW!fphxgdqu0hmLdqcyXcaopciXdmurTokX`auWYWYhLWYX dmmlfgXhdq§xgdX dLr otcedqX fprj hr ?d]`i`ajVopxpbXdm8ogXc?uxgopTVXXXjxgWYumX[hLXY`i`ijW!kTVdqdqXLlVxgXX lfgxpfph!h<TVdmXYuX[T mfg³X0xguTVdLhL`euujmcaotX X `eotr WYfgª ohq`ifgj]`ihLotj
(14) k`i`efgouThmjV`ijVcas fglSIhTTdm`aXkWYoplX lV³h<cahLotX`ijVWYfpca`ashmXjnj<opf®k+dL` fpfotTuX TVX r `ij?Y`i`eLotfpbTLhfdmcVdquotjhLX0j<xp`afpLW!xghmhmdq`acyjVm[X[opudqX0TjVlVXTlVWYdqxgX hLjdLu`euo[X T r dq`ecaX(o¥WYo{dfghL`iotW!WYfd4hmbVfgxgj`iX~hLujuThLdqhqjjVOotLX0fpXxpTVr4X dqdmfpl`aj h<mr otXI`ifpotX`ahLv?hmcifpj£bnX0fgª j `ihLrC+jX jr ³ lVfpfpTVxghKhmXfphmTdqfpVX TVcaX0s cedqx~X0j TdLr dqot`ij`ajVXr x fgjTVhmX`eotX[xgX0hmuxIhmj`ajotfpdmxgu0buubVfpx`admhmujÄs!xpW X0cib`aX0oto f~hmCj«X otdEX(umbVh?xgh X r r ª udqca`aVxgdqfp`ahmjÄhqkfgTVXu0dqWYXxddqj r fpTVXX :X0uf hqkfgTVX`aW!dqLX r ?bV`iWYxp`a^?jVW!hL]WYLca Xdm§j ªylr dqSI`alCjVTVX Xx³ o~¬kxgdq`iotcafpfxgTKX0ld jVdqr h!lCsYXdqxAfpbVhmlfpbhmxpuX(W!TVotXX0dqrjLfp`efu+fpoATud X hmlj<lVh<fpxgxgothmhmX~Vc§caxgªXX0SIWµuhmTjhmX[otopfp?X0xgb`euothmu`ahmjfp`ajr hmjYhmjVdLfpX(otX[Xu`eTVr oIjVWY@` ><`iLhmbVTLxgXkX+ffpxguh X0hmuj<XfpXj<xgfIhmbcopdm³ X j car `ir LdLX lVoxpduX(TotlX0dq`ij<f cahqfgofI±fpdqTVhm` r Xx op`aW bVced4fg`ihLjxgX0opbVcifgoIhqOd]xpX(uhmjo{fgxpbufp`ahmjKuhmj<fgxphLc£opuTVX0WYX+8hLxk`ijV `amT<fkxgX8bVX0ci`ajVª xg`ajX ><fgbVSITV`aX]xgTVX X `ir W!`iW!dqXLdm8X mhmXxgr Xk®h?` X(dLfAootW!X jVr d.hms f?`eXotvVXIbudqfg`icX0fpotX opfpXX fpxgrTVmX]hL`aj!`ibVjjxgYX0otdqdmfgcdmlVVlVci`ixgX LhLTLdLhmfAuxTKuW!hm`ej o~dqr xgWY`mfg`ahL`ijhLxpdqjX caocidmsªW |®otfAVfgdqW `ifp`abhmciX o{bfor s?dqXkjj Ldqr WYXxgd`e` u¬uo+X dmr bnhq¥fpfp`aTfghmTVdqbf¥X]o+fpmdqTVXjX~Tdmu`aciusnhmcij<opXL`afpªo~xghm|®`afo c `edLoYuuTVXh4ln'fdqXVLXcaX xYxgd
(15) X8opX0hmxpcaX0bnjfpu`aX]hmj `iW!fpTdmmd4X]f!`a`aooYlVjxghqh fr both uX r r X0l8hLX0x+j rfgTVXXYj<f?`ahLopj bdqfgcTVfpXxdmuudq?WY`ajVX0 xgd´X0uopdml ci<`aV x³ d4fpxg`ahm`i j L³ dm§ª oY| caj
(16) hmjVuÄhLj<dmfpoYxdmdmotj f kjhq`ifpfyTYfgXkTVdLXopopbbVotWYbdmX cr `aW!dmoOdqmdXlV§bVdmxgXIopX mr Xcauhnhmuj<`if{fgsxphL`icVj<`ifgj!Xmxgxhmd4Cfghqhmfgx `a³ u0fpo TV³ Xk`ijdm`ihmxbVux¥xd4l©dqfOxp`afpoO`eubbVj cer dqXxAxpu0 dmdmuopXIfgbfpd4TVfgXX r fgdmdqxpjLrXfA` fopos?otr fps?X0jW dqWYW!`ed.us o dmuhmj j<r fpxgfphmTVcaXcaXux hLr bVX0lVopca`i`iLjj£LªoICXf{'XXjfpTX d4vnX0o'W!d.s!jVhqf~CX[jVXLciX(ufgX r dqj r dqxgXfphYX[`aj<fpXLxgdqfpX r `aj<fph]fpTVX . . . . . . . . . . . . . . #". . $. %. & . ÁÁ Ë. *,+ -/./-. ' (". ) (". !#".
(17) Z. #0' 19! 8$-. 34#.<
(18). ,. $ . r ³ r WYr Xh mr SIhmX0fpTVcyX Xr hqAxpfgX0hYfglTVfphLX!TVxtXf dq`a`a`exgW!o uxgdqotdqfpm©xgXf b³ uWYkfpbVh TVrxg`eX uX0T´ci`ajVdLk!o[`icadq8c¥hmj Ccar ciX]h4`a~j<bo0fpotxgªKX h r r| j 8bhLux[dX(o'fp¬TVfpxX!TVo{f XuhLopf{X0'j<ufph fpxg`ahmhmr caj`ciCX0xgX0o'xpX0Xr jLX0f~Vop`axg?m`i`eX j£otbªYsEdqSIc£lTVopxpXX!X(xgotmotX0hmX(jLu`af jVhLYjfpTVr dqX lVoplX0uxps<h<fpj`admhmdquj´WYTVX(`a`auoo klxpTX(`aotuX0TjLfko `icaopc¨`aW X bVcer d4Xfgfg`ihLdm`ij«caX xpr X(ot`ijbc fpfTVo XkfgTVTV`e`iux T r dmdqcij cah4r 8hmfpbVh xpfprTK`eopotuX(bufpop`ao hmjfgTVoXKxgX0d opr lC4X0dquj<fg`ifgLdmXmcaX(smo ª dqj `ijr dqcar cisYxd.fgkTVXdm¬Vu©nfpoThmotX(uX0fgdL`ihLujT dmlVlVxghLdLuT£ª . . . " & ! ~ 0 %&'% ( hmhL AmxWY ~dqhmbVlVxgjT?X sYhr hmXj fghLdqot`afgcacidX `amrT<ur f+hLX(o opuX(xp®`auªlnTfgdq`ihLjh<j`au0o{fohq³ ¨hmjfgydmTVfpW]X+TVX X0+cis}jVhqD`ifgjK`iChLfpjT} o+X[E lV8hmxpG[X(caciotWYh4X0kj<h `afpr jVX X]r cCxpW!TXX8d.xgXsYX0xgd4Xj©XfguXX08x+hmo bVOWYj ^<d.r fgsKX`iLCjXX jfpTVo8hmX+bo{fpfgj X(X r u<TV `ajVj³`eufpdqTcCX dmxgu0XV¢£lC`aX0Vhmdmcaxp`j f W!uc m hmx~u(hLxpWY`eu WYu0u §ª . . . . . #". . . (". . . . (". . (". !#"$%'&)(*$+-,/.1023$234 05+-(. gfSIdqTVvnTXY`aX+o0X0ªfgdmSIxgxtdqfgTz{TEXX0u8cafphnxhmdquxgWYdms!cXhq8x 8dqhLfpWYx TVX X ³ dmca`i`axjVumx³ X d48r ©hmfkx fpdqh j fprhmTxpX[fgfpTVTndmX `i¥xuudLh?xo{hmd4fp©x f'r+`ah4jh kd4r fgjsX0¤ o³ 2hq k~` fpfgTVT
(19) X[³ fgcedqTVdq`aX!xj ur uxX0`id4jVjL©]ffgXC¬xhX0?cr r ssX0`aucijX0XotW]j<fgfpdqX0X0jj<xpuXfgXYokr ¤ dqhm³ xgj
(20) kXfpTVmTVX0`aXYmxpXX+¬jKfpXTV`ac jr X fg`edmo]h4`ix'dqudmcexotd4x hr©f+o~XmvnfgXTVlVcaX!xphnX(udqop`iopf{`axgXs ur xgdq`aj«©f+fgjVTVh<XotX ca³hnudqcAfgh48'xg`edmodmWYx Lr X`iLo~Xfgj TV³ XY`eo+xp`aumXT<j<f[fpX0kxp`iX jVr ª
(21) d4dqfSIj `r TVfoXKuuXTfgj<hdqfpjX0r mx+h4X!hmk¥8j£xgmhmª xW d.SI?TVfp` f{TX!sÄXdm' jVX0C[dmmxt¤bVfg³ ceT¶dq2 x8rxmdq`iX0xgWYciX0hnuX!ufp` X fpf{rsh fgfgTVTVXX ycah?bVu0cadqXc:x~8xdqdqjWYmcaX[X0o `ao r X¬jVX r ³<xpsX(otfplCTVX0X[ufgfpxg`amdmXjcao{sY8hLxpxphLW!cic dq³ fplV`a`ihmfgjuTW!dqdqj fpr xg` v sLd.6 6³ kdqjTVm`eucaX0TKo ³W!fgd.Tsd4fkCW!X d.otfgsYd4`ifgj X rr `i?`ijK` r fgbXdqxgcaWYcasoIhmX ?^`aXW!'d.X sr CdmXokXfpvnTVlVX xgxgX0hqogfotd4X fgr `ihL`ajKjokfpXdqxgxgW!hmbVoIj hqr X(fpdmTVuX T><hmbjdqXfpX0hqxpjV`afphmTVjX o cahnudmc£8xdqWYX d4vnX0³ o0kªTV+`eouTdmjTdmdmo'c fgfgXTVxgX jd4d fgr `iL.dmX j<³ fgW!dqdqLfpX+xghm` v xgX0opbVcifp`ajVY`ijdYuhLj<fp`aj<bhmbo'xgXlVxgX0opXj<fgdqfp`ahmjk` fgTdmciLXVxdq`eu+xpX0cadqfp`ahmjo0ª -6 7. 86. 97. -:. <;>=@? A)BDCEBDF GIH . 6. KJ. MLN=O? PQBDRSBDTUGIH. ? V)B WXB Y GH. ? Z\[]B^Z]_UBDZ\`]B^Z\aGH. b . !dcD4fe5gh2Kij&)kXg#$+ 4 kl(*$+-,nmpo#+#$%>4 kqij0 ,-&rc 4D+#e. ISuhmTjXYop` dqr fpXWYxg`ihLjopElVTVfgTVX0Xxp`eu WYhq`afpm`aT<hmfjR`ahqo[+LfpXTVjVXX0xgdmdm`icixcas uxrd4©X fYr b`aj uX fgr TVX8xghmX0WdmxtfgfpT TVX!8xdqdqlWYlVX ci`e³ udmdqogfp`aophmbVj´WYhqX kr ~dmX0oYIdqfpjRhmj `ij& oXxpopfpX0`eudqhmcIj 8r xdqcaWYd. X ³³ ³ dqX0xph r s?jdmW]`euo bljxphLr lVXbVxcefpotT`ahmX+j `aj bVX0juXhq±8hmxuX0o'dqj r fphLx%><bVX(o r bX~fph]mxd.?` f{s ydqj r (¤ 2m¤ `ekoIfgTVTVX0X xpX dq¦`axgu`axgo¥dqfp©f'TVX~W!LdLXopcaokhnudm`ij f{s r hq:`fpfTokX`ijdqX`axgxpufpxg`edqdqc¨©fAW!ud4X0jLfgxpfg`iXv¨x¥ª hmCLxgd.?`if{s' C[¤¥dqj r `ao¥fpTVX+dqjVLbVcadmxymX0cihnu`if{s ³ . ). tsbuvBDwx. ~sburSB{x . s ;x }. ). sbSL x . -;. . r. =uvKuy KuQ. -sbuzyB^{|y}x. ={. y {. f. . L. . ¿8ÀÁ£¿©Â.
(22) @.12= 23054B , , 4 #,
(23) 230 4 , 4 4 2 . ! "0 . SITVX uTdqjVLX8xghmWµX(dqxpfpT8xgdmWYX[fphYcihnu0dqc:8xdqWYX[`ij<fpxgh r buX0o'fpTX hmxg`ihLci`eoIdmuuXcaXxd4fg`ihLj. . L¤ dmr ci` c:Xfp|®+xgTXXfpj<TVfp4X`edqdqxgc¨W!`edqXdm><VogbcaoYX0d4o]dqfg`ijdqhLxgr jXo `ixgjVXX0lVxtfgxg`aX0dmopcIXj<WYfpX dqr fpxg``avj«dmfpTxpXXdmcahnoguopbVdqcWY8X xr dqWYdLXoY³ uhLhmjVjXo{f¬dqjj<fKdqcaci PsÄhmxYhLn4dqfgdmxgs¶`ijo mXfpxgTs¶Xotf{ca'h4khcasn8hL¤ cicadqh4j kr `ij`i . . . =. }r. . L. . . 8Z<¤
(24) m¤ r r ³ r 8hLxgu| X0jYo'hmhmx xIfgX0hmx±x"fg><hbVlX0okxphndmuj X0r X fgTVkX` fglVT xghmfgTVVXkcaXdqW jdm.cidmsnxpop`e`adqo ci`iX(f¥o`aªoOjVX(uX(opogdqxgsfph[X0otfgdmVci`eopT fpTXkci`ajV CXf{'XX0j]dmlVlVca`iX © ¹ . SI PTX0X!`iLmT<xfd.¤ <`if{shmdmjVu0ucas X0ciX0r xgX0dqlfpX0`ahmj jEr o`eohLjEXv?fglTVxpXYX(opfpopxX dqr j`io{jÄ8hLxpfgW!TVX!d4fgX0`idmhLxtjEfgTEW!8d4xfgdqxpWY`iv X 6 yªSITVX!mxd.?` f{s8hLxguX fgdmTVj X!r dq` fjVo LbVr Xcedqxgx[`a.ldqfph<`aotm`iX(fp`aohmLj´`iLhqX0okfpdmTVjVXhqdmfgTV`ixXux xd4r ©` f(Cª X0xpSIX0TVj<Xfp`edquc¨`ijX X><W!bdqd4fpfg`a`ahmu]j xgXced4fp`ahmj
(25) Xf{X0X j
(26) fpTV `e³o dmdmj jVr mbVfpceTVdqX0xxpXlC8hLhmopxg` X fg`ihLhLjj
(27) PL¤ kTV`euTW!d.sXXvnlVxpX(opopX r `ijKfgXxgWYoIhm ¥bVciX0x~dqjVLciX(oIhmx ><bd4fgXxgjV`ahmjo0ª ¸ ¼ ½ ¹ 8m "½ ![ $¼ # L8% $¼ SIT³ Xyxg8Xhmcexd4ufpX(`amo£XdqjmXr cahnfghmu"x`if{><sYbVhqX0o£rfgTVbVXXydmfph+`ixdquxXd4xgh©fr `is?jjfpdqTVWYX[`eudqo¨`ax dm³ j hLr nfglVdmxg`ihmjVlVX bVr ceop8`ixghLhmj W$r X0fpTVlXX0j r r ` CWYX0xphLX0otjfpcausXhmCjXf{fp'TVX'XXdqjK`ax£dqmX0opcihmhncaubn` f{fgs X LXcahnu`if{s dqj r k`ij r LXcahnu`if{s '& & ( ' Gq¤ SI*TV)X
(28) dq`a)]x PmSX0xpcibVhnX u`i~f{s«`ax`eo^?lChmX©fpX Xr j ®SXv?+l^xp¤X(³ opopdmX j r r `afpj6TXotlVf{TXhxg`admu0Xdqxgc~h ur h?s?hLjx dqr WY`aj`edqufpdqX0ojV³ Lci`iX(j<o fp³xghfgTVr X budm`ijVjVmÄcaX fgTVhqXEyd4dmfp`ifgxdLotlCu, XX + r `ajKfpSITVXTVX+LX`ijxpfp`ebVudmXcCjluXcadmhmjV:XfpdqTVjXr dq`afpxATmX X0otcihn` r uX` f{s]otca`ahmljYdmfgjVTVmX+caX.dm`i-´xu`axjKd4©fpf¥TVWYXhqTfghm`ihLxg`ij²0hm`eo¥j<fgjVdmhLcCjlcaci`admjVjVX(Xmdqª xAdmj r dqceoph r XlCXj r oAhLj fgTVX[SIfp`aTVWYXAX 8hmr xXuxgX(`ao .dqr fpbV`aXAmX(fpo'h+dmdmj Xrxgh dqr jVs?LjbVdqceWYdqxI`euxgoCdq¬fpX(jodmª cicas r XlCXj r hmj[fgTVXA`ajVlVbnf4dqxg`admVciX(o¨fgTd4fdmcicah4´fphuhmj<fpxghmc fgfgTVTVX[X!ot`ajVsnlVotfpbnXfW o dq 8fpxgTVX X[fpdqT`axgXuxgdqdqjV©fL¤bVª cadmx hmx¥r XfgTVX[X(udqfgX`ihLxgj
(29) h r hms?jfgdqTVWYX`euIdq`a8cihmX0xxpuhLX(jo 0o ³ `a/ j!³ fpTVfpTVX[X udLr otX X+hqX0±ufpd `ahmujÄhmj?hqLXfpj<TVfpX!`ahmjX0cidmX0c4dqd4`afpxhLuxgx0o d4©/%f 1 ³ dmj r fpTVXxgb rVr X0x r X X0ufg`ihLj2/434ª ;. = -L ;q. . L. =. }. . _. L. . t3L. s u)v Kuy KuQx. |. _. s9{|yK{x. b. @=n? wXBDwXB }GIH ruvM= . u)v. . . . }. =. -L. z6. ; y. M;. . . ;. ; y=1;. ;. H. =. *;. ;Ey. ,. . ÁÁ Ë. *,+ -/./-. . . . y. .
(30) . #0' 19! 8$-. 34#.<
(31). `a?`ijVYfgT?bo (. ,. $ . uy=. uys ;. L¤. B +5B - BbPrBDRSB T B / yB / 1 B / 3 x. !. k TVX0xpX `ao'fgTVXmX(ufghmxkxgXlVxgX0opXj<fp`ajV fpTVX8hLxguX[dmj r fphLx%><bVX r bVX[fghdqXxgh r s?jdqWY`euo0ª ³ ³ r r ³ r dLokdqca`ihmLxjVfpX TVr X]klV`ixgfphmTKlVfpbTVcaX op`ihLdmj`ixuxdmd4o[©fId!ca¬hmjVxgotLf[` fgdmb lVr lV`ajxghLdqdLc£udqT v?`eo fg³TV`aX o'fpfTVdqxgmbX0otjKf[dLlo'xphfpTVX buuX hmj<fp?xgshmc:fg`aTVjVXYlVbnlVf xp³ hLLl`iX0?ci`acajVXx fgdmT?ogbotbo W]X + L¤ hLx'8SIxphLTVW X 8XhmWYxgW lV`axgdq`au0j dqr c¨.ced.dm~ciboX0ª okhmOChqfgTmX0jVXxdqca`i²0X r 8hmxuX(o dmj r ]dmxpX[hLnfgdm`ijVX r XvnlCXxg`iWYXj<fdqcacis (n ¸ n $¼ |®X'><bfpTd4X!fg`ihLXjvno'lVxgxpX0X(ogototbV`acihmf j³ o+xpX0hqlV'xp8X(hmotxX0uj<X(fpo`ajVdq j fgr TVXdqlX lV><cib`aX dqr fp`ahmfpjhL%xo'><hmbVX(fgoTVdqX xgXYotsn`iotj<fpfpX0xgW h r r bs?ujX r¨dqWY³ fg`eTVuo xgXX r ` CX0xpX0jLfg`admc¥mX(ufghmxg`admc H. u. . . u =. u 3s ;. uy. . . B hB B PQBDRSBDT B x. H. u . . . . . .
(32) . p. _. L . 3L** . . =
(33) -L 2 . =
(34) . . = -L ;q. _. sbuzy |urSx. . _. . s {. y . {. 0L¤. x. . kTV`euTW!d.sXlbnf~`ijdYops<j<fgTVXfg`au+8hmxgW dLo'fpTVX[8hLcicah4k`ijYotfgdqfpXopldmuX r s<jdqWY`auX>Lbd4fp`ahmj. . =s n. kTVX0xpX. B B x. (¤ . . e` oIfpTX uhmju`eotX[jVhmfgd4fg`ihLj8hLxIfpTVX[fg`iWYX r X0xp`a4d4fg`iLX fphmTVxkX!kot`ifgfpdqTKfpX]fpTWYXd.>Lsbd4CfpX]X0xpXjvn`ilVhLjxgX0o ogotX r `ij
(35) fpX0xpW!ohqAfpTVX ybVcaXxdmjVmcaX0o fpTVX`ajVlVbVfmX(ufphLxI`ao / /%1 / 3 fpTVX r `aotfpb& xpdmj& uXyL& X0ufp&hmx¨`eo£& botb& dmcicasxgXlxpX(otX0jLfg`ijfgTVXyk`aj r mX0cihnu`if{s ³ k`ifpT`ifgo£op` vuhLWYlhLjVXj<fgo = n. . . H. ". # H. . . . H~=. ?A. B C. B F. BbP. =. ='? y B. B^R. B T. d6 ! ? AB C B FB PQBDRSBDT BDZ [ B^Z _ BDZ ` B^Z a G. \B. H=@? A)BDCEBDFBbPrBDRSB T BV)B WBDY G. B#G. G. ¿8ÀÁ£¿©Â.
(36) @.12= 23054B , , 4 #,
(37) 230 4 , 4 4 2 . ! "0. G. 8 ¼ # ±¸ 8 £4 L ¸ ¸
(38) ¼ 0 ffgSIbVdqTcxg³XVkbVkca` `aXfgj Tjr uuXLh?Xhm 8cahLx hnxr u`a`imjf{bsd4o{fgLfX0X0¤ o u'fphm& xW!d.s[Xkop1 lVci`ifO«`ij<`afpdmjh[j fprd+TW]XX(X0dqdmj xtfg.T!dm8cixbdqX WY³ uX hL³ jdqopj ` r³r X0Xd xpv?X lur hmxpX(WYdmopooplXuhLhLr jVjX`aotjj<fgf'dqfpj<TVhqfyX ±dqd4cijhnfgWYrudmhLTVc¨ophm8lVxgxTV`adq²XWYhmxgjVX`eu ³ kuhmTWY`aulCThmWYjVX0d.jLs!fo CXlVxgh r buX r `ajK& op`aW ª bVced4fg`ihLjdmu0uhLx r `ajV fph!d +xgs r XjWYh r X0c ³ 8xghmW fgTVxgXXkTV` fgXjVhm`eopX d]LcihLhmh4xkdqc¨otX0`aopmW s?Xotbx fp³caX0dq` Wffp`a`ahmodLjhqo'©lVfpfgbTVXj xpX[lCChmhLjXopfpX X0fpo Xot³ x`afpW fpTVh+bVXcemd4mX0fgbXX otlr fkfgo{`iTVjKfXAd4fgfpWYTVX(X o'h rWYXd.cad4`asYfgjVcaCdmX[hmn`i8jbfpTVujciX ub fgr r `i`ahLX otjKr fpbj`ixpj<dqfpWYdmh jX fpurTX(X[o±-! dLotfgo£dqlVfp?]X+xgXXª ?><`ahmbbd4opfgci`ishL³jkfg` h fgTVLhm`ibnLXf 8bxtfgTVXx r Xfgdm`ic§ª . . . ; *= #; v =. =. ? B
(39) }B
(40) . ? FlB F \B^w G H ? A v BDC v BDF v G H. L v =>? P v B^R v B T v GIH 7. GH. .
(41). . . ¼ ©% ¼ SIdqftTfgX+` fgb otfgr d4XfgX PdqXj>LmbbVd4cefpdq`ahmx+j
(42) lh< 8X ot>C`ifpª `ahmj.¤+¤¥dqopjTVrh4~fpoyTX fgTlCd4hLf'opfp` fgT`iX+hLj dq`axuxhmd4¥©fAfpTVWYXYhqfgdq`i`ahLxjuxhLd4jV©f+cis umª r X0ªl`aX0jj rfgTVo'X]hmjX0dq`ixpfgfpo'TL8Xxgcadmh?W]u` f{X sYr dqh?j X0r o jotfghqdqfAfpX(dqo l³ ldLX(oIdqx(`ij<ª±fp|®X0:mfpxTVd4`efgoyhmhLxoAjVXkhm`aoyfgTVfphX CdqX~`axguWYxgdqhm©jVf'`ifpLhLXxpcaX hnr¨u³`if{hms xuhm³ j<ufghmxpjhLopcica` X r r¨X³xgX`ifAr `eoy`ijjVfpX(TVuX0XogX(ogdqdqxgxpfps[Tfph8xg`admjLWYfgxpX h r buXklChLop` fg`ihLj. (m¤ dmj r h4LfpXTVX[X ><fgTVbxpd4X0fgX`ihLujh?okhmdqx xgr X[`ajbd4opfgX X0r o'hqhmfp¡TW 8hmbxIo{fgf~TVCX X op`id W rbVr caX dqr fp`afphmhYjfghqTVXfplVTxgX Xdq?`a`ixghLubxgoIdq©o{fIfd4WYfgXhmfpL`ahmX0ujfphmdqx(j ª r 8hmx~uhmj<fpxghmc r X0op`iLj£ª !. . . . . M;. =. . _. ;. . . . . 4 +-&Q$z"X4 l&r,. ij0 ,-&rc (. Iz{S bTo{fgX` ¬X X ><r bdqfpTVfp`aX hmjopX0o!dmjxguhmTjn®8cihm`ajVx+X(otdq`aWYxg` f{lVs ci³ `i¬fgX TVr X`amxXxuophm`iWYhLjlVoIcaXdqvnj `if{r¨sR³ dmdmo~j rd]¬d«xotufX0xto{ffgdqXl`aj ³ `icifX0m`eo~Xc+uhLhqWY W]dqlhLlVjKxph.fpvnh!`aW!ca`ijVd4X(fpdq`ahmxgjR`i²0X[Td.fpTVLXX X ><`iLbTL¯d4fkfgj `i`ehLroIjX8okx xgX 8fp><hLTVbVxX(Xotopj<XW!fgciudqs!hmcacj fdqlCr L`XfgXxp`ifpjhLbVjdmxgo ok³ dqd]fpfpTV`aTVhmX!hmjxgXo+`a><²dqbhmxgd4j<hmfgfbV`idqhLj c¨jr o{ofgdmxgdqjdmxg`iX!LX T<><kf'bVxp`aca`icaXft`iLVfgXXxgj¶ca`aXbVr Wdmo8`iLb`iLT<jT<f uf0³fgª[`ikhLSIj`ifpo TVT`ahmo+jVhYX fg><TVkbVX!`a`aj ca`ilrVX0ªxgxt`afgbVbVW xg 8d4hmfgx+`ihLfpjxgo`aW!`aj ¤ fgr TV` :XXotxgfgXdqj<fpfpX`edqmc¨X0W!ufpdqhLfpx xg`au`a³dmc¨`aj«X ><fgbTVd4Xfg`i`ahLjVjlVo bnf]mX(ufphLx hmx `aj¶fgTVX r `aotfpbVxgdmjuXLX0ufphmx ³ xgX0opbVcifp`ajVE`aj¶f{'h L¤ r X(opuxp`aV`ajV]fpTVX r s<jdqWY`au0oIhqf{hY`aj r XlCXj r Xj<f r X0uhmbVlVcaX r ¤'W]hmfp`ahmjo fpTVXWYhmfp`ahmj`ijfpTXmXxpfp`eudmc¨lVcedqjVX ³ jdqWYX r cahmjVL` fgb r `ajdqc ³ dqj r fpTVX ophq udmcicaX r cadqfpX0xgdmc¨hmxIcadqfpX0xgdmc r `ixgX0ufp`ahmjdmcWYhmfp`ahmj ³ WYh<o{fgcis`ajKfpTVXThmxg`i²0hmj<fgdmcClcadmjVX . . . A. . . . . . =. ! . . #" A %$ . . . ÁÁ Ë. '&. *,+ -/./-.
(43) #0' 19! 8$-. 34#.<
(44) !. ,. $ . SITXca`ajVX0dmx r s?jdqWY`eu+X><bd4fg`ihLjW!d.s!fgTVXjCXkxp`iftfgXjdmo. . Z<¤ `eokdmkSIogopTVTVh?X0XYuxp`adqcaX`ifpjfgX X0TVr dqX[x[k`ijWY`ifpr TKh Xr v fpXTVceXo `ecerokd4X0fgdmogXoguxopxgdqh?`ac¨uWY`aX dqr fphqX fg?r`ishLkj´X ` >C PfgTVTKª hm0fpxgTVZ`a²X³ hmhLj<cahm<fjVdq?Lc©`a¤hm` ªfgbb opr cas `ajr dqXc:lCWYXjhqfgr `ihLhmj´j
(45) PfpmTVX0X xtfg`afpu0xgdq`aWc©¤ ³ ldqhLj `ir j<f fpTuXTVh<`ijotX0r jXv 8hm x fgTVXSIca`iTVjVXX(dq.xgdm`i²(ci` d4r fg`i`if{hLs j hm³ :jfpdqTVWYX(otXX+cas!ci`afgjVTVX0XdmsKx¥WYdqxgh Xr 8XbVcejo¥u`efpo¥`ahmhLj<ok?`ahqhmbfpopTVcas X cidm`aWY`ix`opfglX X0r X rfgh d
(46) [opdmbVj xgr xphLfgbVTVj X r dq`ajVcifp`ifpdqb xgr hmXbVj r
(47) qª fgTVX~fgxp`aW lCogd.hms `aj<Lf ³ jr dmXW]LxpX0X0ciX0sKo ³?dmsKj fpr TVX]?sci`ajVfgTVX(dqX xg4`i²(dqd4cafp` r `ahm` f{jsKhmhqyOfpfgTVTVXYX dqdmjVXLxgcih X(r o s<³ jkdqTVWY`eu`aTEu[ceud.dm~jVojV³ hmkfTVXvV`euuTX0X o{r fd4dmfgXjEfpdqTdqotfhLcifgbnTVfgX X dm4`idqxcaotbVlCX XX hmr W dmxpbX'otdqf~ceothXci`aLWYxpX(` fgd4X fpr¨X0x'³ CfpThqfgdmT j8fghLTVx±X fgTVotfgXIdmotcic±bVxpdmP`idmxuoplX X0r X X r X0dquj fpr `ahmcajh4odqX0j xr fgT8hmdqxjKfpTfgTVXXfgTVW!xgbd4vno{fO`iW lVbVxgh W r bdmu`ixX opr l?X0s[X r fpª¥TVX'SIlVTVxgXhm`alCjVXlVcacibVX0fgx0o ª ¼ ©½ =L K¡¼ ½ ¸ L |WYjÄhmfgfpTV`ahmX j!r `eoXfpX0xpWY`ajV`eo{fg`auu0dmopX ³ :kdmj ` fgr T«fgTVjVXh `ar jV`alVotbnfpbVf'xgmX(dmujfpuhLX x¥³ `eofgTVXotfgdqfpX/ 1LX0/ ufghmyx 8khmTIXfpxgTVXXdqcica`acjVfgX0TVdmXx 4cadmhmxpjV`eLdq` Vfgcab X0r oA`ajdqxgdqX c uTdqjVSILTVX0Xkodm8lVxphLlVW xgh.v?fpT`aW!X[d4fpfgxgX`iW r ca.hmdmjcimb`iX(fpb¤ª r `ajdmc r XfpX0xpWY`ajV`eo{fg`au r s?jdmWY`au0o`eofpT?bo r X0oguxg`iCX r ?sfpTVX'8hLcicah4k`ij X ><bd4fg`ihLj m¤ hLx ³ `aj<fpxgh r bu`ajV]fpTVXW!dqfpxg` vuhmWYlChmjVX0jLfo . . . =. . w. . . w. ". . . . . w. A A. . w. ". $. . w. . w. . $. . . MC. . ;. . . . E H ='? A)BDFBDRSBDW G. zA H =. ?. B. H. G. . . . =. . . %". A. U. . . . A F R. =. . W. . {. . . {. w. &. &. A. w. ;
(48) {. &. w. R. . w. {! . . F. w. w. . . W. w. . . . {! w. /. . / 1 H. 0L¤ . . ^?4hLª WYXfp`aWYX0o fpTVXmX0xtfg`au0dqcAoplX0X r `eo xgXlcadLuX r ?s
(49) fpTVXKdqX0xph r s?jdmW]`eu!dqjmcaXhqdqftfgdLu J. F%$];
(50). n ¸ 4/L K¼ ½ ¸ L | jKfgSITVX[TVX cadqr fps<Xxjdqdqc£WYu0`admuopX X³ >LfgbTVd4X fp`ao{hmfj d4fgXLX0ufphmxI`eo `eoIfpTXj . . . . dmj r fpTVX`ajVlVbnf~LX0ufphmx. H =. . =. (zA H =. ? C BbPQBDT B^VXG. . #"%]A&. +#". ®ª 8Gq¤. ? /UyB / 3 G . . . . C P T V. . =. . w ' ( ( ) *) w. -;
(51) ( 3 ) 3 w. . w. w. w. . C. P V. T. . . . ' + ' -, (. + (.-, )/ +*)/-, w. w. /Uy / 3 . L¤ !. ¿8ÀÁ£¿©Â.
(52) @.12= 23054B , , 4 #,
(53) 230 4 , 4 4 2 . ! "0 . r r r r
(54) IXS v?TfpXx^?d sLhLd.WYotfg dqXfpfpdm`aXmWYjVª mX0cao~X fp TVX dqlVced4lCfgX0Xdmxxgdqoc£dmoploAX0d X lVbVxgX`ao`aj<xpfpX0XlVLcaxgdLdqufpX hLx¥?hqs¨fgfpTVTVX+X s<opd.` X xgotdqca`afplX dmXyxg`ih f'W!s?jd.s]dqWY`eXu`ij<dmjVfgxpmh caXr b- uX " r dL$oAdmj ª K¡¼ ½ ¸ L ¼ I ¸ r r r r ³ caSIXTLXX!c¥ci PhL²jVXmxgh!`ifpb dqcifp`i`ijfpdmb c¥r X(WY¤Ih dqj Xr c`a`eo okXuvnhmWYlVxglVX0bnogopfgX X r `a8jhmx ^?|'dbVxpjVX`i8fgXo xgXjuX ©fpxg`aW!¤ dq`axgoplX0X hq Lª KW 4o jX0dqx otX(d C. . 1C ];. #T%. #Y. . 3 . . . #w
(55) . . A F R. =. . W.
(56) . . w w. w w
(57) w . A. w. w. R. . w. SITVXced4fgXxdqc:WYh r Xc¨8hLx~d fpxg`iW dq`axgoplX0X r hq 8G?ª ]W 4oI`eo . . . #w . }w w
(58) . . C P T. . . V. . =. w. w. ! . . . " w #w
(59) w . w. &. V.
(60) . . w w. w. . P. w. . . w w w. /. w. / 1 H. . . C T. w. . . W. . . F. &. . . . w. w. ]w . . w. w w. w.
(61) . . / y / 3 . r r I S V T X V j L h ] W a ` j m d : c t o g f m d i c ¨ c p o l 0 X X a ` ' o V j ( X q d x ( V ª Z W q o y ª ~ j q d a ` x t o C l X X W!dqxgm`ajhqm fgh L$ # `eo'jVhmxgW!dqcacis r r r jXX X dqCh4mXfpTVX otfgdmcic£oplCXX ª fgothÄfpxd4XSIfgjXTVdmLXV`iX(cidqXoAl8d´lVhLxIxpxph.X(fpvndqTV`acaXW!`aotr d4fp`eX0fpuKXop`iotxgr `aX W s?r jbVdqdqcebnWYd4fgfg`ehm`iuhLjVj hLWY³ WYh dmhmr j bXr cIo'fghmhmT?x~~bopfpo!XTVWYXdqca`ici®h4dmk}+bn`afpDjVhL
(62) jVChm}IfpWYh´hLE fpbX(GoAo{f¯+hLlu±hmX0° xgj<dqfpfpxgT`ahmhmdmcIj£o]otª ChLciXbVX0fpj `ahmrjXo!¬dmjVj X rr X0`ij .dmhmcibx rd4fpXXx . &%. . . &. !dcD4fe5gh2Kk 05+h23"05cDcf&Q". dmlVhmlVxyxgfghLTVdLX uT`am`ao~T<fAX0u`ihmjVj<!fpxgdmhmjcdqogcaus?TV²X0X W]r ªXkhmfgTVX¯+±° }DC}RlVxghqz{X(uf Vxg` m ³ `ed. ©¤ ³ d[xghmbo{fAuhmj<fpxghmc rfgb X0ruhL`a+jbVo dqlVcca`eXo WYr´bhqotrfgb`is?hLdmjjEcAdq`aWYdqj j `eru]dq`aW]hmxujVh xXd4r ©8X0f hLcao xu³ hmfgxgTVj<X0fpX opxgbVhmcecid4c fpfg³ `aXjVfgxTVdqX c `i³ j
(63) r CX0f{hqopfg`iTLhj¶CuhmXhqWY`akjVlVfpTcaX`aXjEWYuXdhLj<j<¬fgfpdmxgxgotxphmf+scaciotX0ufpxghmX0o[j<lfp`eo xgci`ahmjVcacaX(dmXdqopxx[X o r ³ dqhmj hmjr j«X fgfp8`iTVWYhLXxX fpci`a`iTVjVj?X!X04dmdqcahmxpxg`a`ajV²dmLX j<`r f 2¢nSI|t¤ª ¼ © ½ = Lk= £ ¼Vº # 9L ¼ hmSITdmX`ixcahmotlCjVXLX ` fgr b r `ajdqdqc:j ur hLjLdmfgc fgxp` hLfgcib caXr x'Xd r hLlnfpX r TVX0xpX+xpX(otbVcifpX r 8xghmW d xgXLbVcadqfphLx r X(ot`amjdm`iWYX r d4f'fpxdmu?`ajV . . . #" . % !(". . ;. H. . '(
(64) =
(65) . ;. H. . ?sfgTVXbopX[hq±fgTVXXcaX4dqfphmx r X X(ufp`ahmjdqjmcaX0/%1dmj r lVxghmlCXcaciX0xfgTVxgbo{f ª . ÁÁ Ë. *,+ -/./-. .
(66) (. #0' 19! 8$-. 34#.<
(67). . ,. $ . r ³ otfgdqfpSIX(okTVXYd rVfgr X0uX TVr jfg`?h!><bVXXYca`iWYbop`aXjd4fg`aXo o{dfd44fpdm`eu[xp`eXdqxgj<xgf[hmxhqo Afg`ad.TV X¢£§h?ª hLl´Sxgdmjot8Xx}kX0uh4mX0xps¶ P¢nSk}+¤ k`ifpT´f{'hKXv?fpxd n ¸ 4/L ¼ ¼ L L ¸ fgSITVTX Xop`cardqfpXX0opxgcidm`acAludqhLj jLr fgxpxghLhmcicacaXc£xdqjV`eo Lcir X(X0o uhLWYlh<otX r `ij<fph
(68) dTVhmxg-`i²0hmj<fgdmc¥cah4I§caXLXcOPdmotf uhmj<fpxghmcaciX0x ³ xpX0mbVced4fg`ij . ) !(". . . ' ( (. =. . V. CldmjhLropX dmr jhqhmybVd fpXr x'`eo{cafh<dqhLjluXTVhLX0xpxp`axg²hmhLx j<fgdqdmcj mr bV` dqr jdmjdqujVXLbVuhmcadmj<xIfgxpXhLxgcixpcahLXxx³ xgXLbVcadqfp`ajV fgTVXTVhmxg`i²0hmj<fgdmcldqfpTXxgxphLx ³ uhLW (. . ' Uv =. . . . IS'hqTVfgXT!ced4cih4fgIXx®dqcaXc:m`ajVX0cVlVdqbnj fo~r dqTxghmXxg`ifp²0TVhmX j<fgdmdm`icacnXmxghmbVjK` r dqdqjjruX~xgub hLrVj<r fpX0xgxhmcar ciX0X xgoyX(dmuxpfgX`ihLr jKX(dmot`ajVmmjcaXX0ro ³ bxpopX(`iotjVlC X0ud[fp`aW]mX0`ivncis X r / opXdmjj opr`ifp`a/ <3q`if{ª s 6fpX(uTVjV`@><bVX ³ 8hmcacah4X r ?s[dIxphLVbotf±xgX r bufp`ahmj ³ xgX0opbVc fg`ijk`ijf{'hI¬V©fgT hmx r Xx r `aoguxgXfgX¥uhLjLfgxphLcicaXxo0ª fglh!Tdmxp+opX Xr bV³ bxgu`ijVdqX ]jr <fgx`aTVdqjVX! dqdm`ij jVLr mT<cafIX0Told.TmdqX dmxgXopdYX jV³ mhmfph?f Th X r r X(ototot` `ar X0xgjXX opr op` cifgdq`a`il?j `ir `ef{oIsfpjVTV`ahmjXxgceW!fpd4TVfpdqX X0caxgcils!dmd4cW!fguThmdmj<`i8j<hmfpfgxgcacidmhmh4`ickj`aXo`ajVr dmdLª opo'X~cir h4h4 'hLjXdLLoId Xxlop³` h<r 8ophmXopxk`aotVfgcaci`aTVX l!X ³ fp`icejKxdqdmj hmur?x r`i`ajVjVX x k`ifpT²0Xxgh xghmcac r XW!dmj r ª " ! ~ 0 %
(69) k&A1 k `ace¦W!d4fg¬dqXLxxgdqotX!f+chqhmotkfpx+X0kdqlftTVfg`i`ej`ufgT b hL³ r x rdmX]o Xlxk?h<fg`aothX`i'fp`a`ajhmX rjVuca`abjV8xgr hmX ³ W ?bn`edqotfj«`ahmcajX0dqd.`a`axg?j`ajVhLfp!xpTjVX 8XxguXu0hLX dqrj<WYfphmxgW Xhmxc£d Xca³jVh?hLhmbVlhLmbV`eTokc r fpfphhdqcarucih4hmX ¬lCjX 8X hmkx]d!`ifpdTExgXm8fpX0h?TVxphX]X0r jci`auWYmX X` xpogffpud4`eX0fgujV`idmhLX cAj³ dqofpj TVhmr X fgTVX¢±cedqXjf r b`ajVo YuhmlVjbVotxg` lCr hLXopx XophLbx'uT¶fpTVdXceLdqXj TVr `eu`ajVcaX r ogs?ujX0jVdqXYWYfp`euho0ª CXdopWYdmcicAxph<d r hmx dm`ixp¬Xc r o{fgxp`al ³r X0oguxg`iCX r ?s fg`aW!TVxgdqXLXXlkdqx`acidqc'caciTX0d.cAmo{XfgxgfpdmTV`iLxgXT<Xf jVci`ahmjVjVX(§o l³ dmfgxgTVdmXcicaXf{'c'h
(70) o{fgxgopdm` r `iLX0T<o f hmcik`ajVfpX(TVo XK³ xgfghLTVdXKr ldmdqjxdqr WYfpXTfgXKXxuo Xj<hm~fpX0kx TVca`i`ajVuTXLª´r SIXlCTXXj rxgX0ophmbVj c fgfp`ijTVX LoplCXTVXX `eur caX hmlCxhLlCophL`ifpop`a`ihmfpjE`ahmj´dmj `aro[fgd4T?fpbfp`io[fpb jVr hqX f ³ opXXvVX0uj´X0ln?fs8hLfgTVxX!fgTV`aWYX]dmlmh<XYot`ifpdq`aj hmr jEhLdmjVcihLcisjV!fpTVfgTVXX dmxgXhLxghd rr s<d4jvndq`aWYo I`au0fpoTX hmcahmfgjVTVLXY` fgmb X0r TV`a`ajudqciX c k`acac£XbotX r 8hLxk` fo~uhLjLfgxphLc2ª khqu0uhmfgxTVr X`ajVdq`axgfphhLfgxpTVjVXkXKceudqdmj W]r `aX0jVxg d og uX0jV`ajRXklVfpxgTVhmXlCLhLxpophLX rbVj PropXXI8x¬dqLWYbVX xg³ X fp(T¤OXKdqjxghLr]d rr XlCdmlVXjlrX(dq`ajVx o]hL`ij j]fpfpTVTVXX `aW!dqlCLhLXKop` dLfg`io hLj fgotfpTVxX dqSI`aumX0TVT<j<Xf~fpcaXcadmxk`ijj caX0r `ajVo `ajV³:X r dqX0opj ogur uXxgjVfp`iCXkTXX`eor ciXr ?©Xfs¬otjV`i`j Xr rr X[X`ihqvnj]X0o+fpfpTTV} X~X³ mxgxghLhmd bVdqr jj ª rr ¢ ³ xg6X0op8lxdqX(uWYfg`iX L³ Xdqcasj r 8hLfgx~TVX~fpTlCX hLxgop``ifgL`iT<hLf+j ot` r X hmChmfgyTVfpX~TVuX dmxpWYh<Xd xr¨d ³ `ehmo+±mfgTV`amX XjEdq`axg<usxgdq`i©fgfko[`iujh<hLfpTVx rX `ij dqfpX(¦o~8`axjdqWYfpTXLX]ª k¦dq`axguxgdq©f~8xgdmWYX dqj r ?sKfpTVX!uh?hLx r `ajdqfpX0o+dqj r d4ftfg` fgb r X . y. :. . 7. . . n. . . s. . }7. . x. 6 7. . :. 6 7. ¿8ÀÁ£¿©Â.
(71) @.12= 23054B , , 4 #,
(72) 230 4 , 4 4 2 . ! "0. Aircraft. }. image frame. x. A. z y. ABC frame. y. ρ. x z. O. (L). L. earth frame. landing road C. B θ. (R) x. (C). N. R. y E. `ambVxgX ¥^nuX0jVX r X¬jV`ifp`ahmj¶ 8caX©f¤kdqj r ?`aopbdmc¨hmbnfglVbnf~4dqxg`admVcaX0o'`iju0dqWYXxd `aW!dqLXY Pxp`amT<f¤ r r r r uXj<fpX0xp`iX fprTVhLdqbnfIffpcaTVhLXogokhLxphq`aOmm`aj X0³jVmXx`a?dq`icaj`if{ s!fgfpT<TVbX oIcafpdmTVj X[`a8jVhL!cicah4xpkh<d`ajV `aokca`ajVfgdqX0LokXxgjXldmxpokX(otdmX0cijL`amfjd4Xfg`ihLj k` fgTfpTVX hmxpfpTdqv?`eokdqj D. . . . . N=qw $. =. `. ca`ajVX0k+o TVo±X0xgxpX%X lVxg( X0op`aXo j<fpfgT(X Xr pª k`ij ` r ¬fgmTbVxghmX ±fpT³ fgX+TVceX dqjkr ca`a`ijVjVX0]o±xg`ihLjd fgr£TV³ X¥dm`ajW!r dqm XAlVcadmjVXA dmxpX¥4` r X0±jLfgxg` X0¬opX lr X(u`aj fp`amlX0hLcicas]dmx±8hLuxh?hLfgTVx r X`ajfpTVdqxgfpXX0Xo ³ fpTVX r X¬jV`ifp`ahmjhqOkTV`euTW!d.sCX[8hmbj r `ijopX0ufg`ihLj Vª Lª Lª ![ ¼ otfgdqfpX opL ¸l dmuXxg(Xnl xp¸ X( otX0¸jLf d4 fg`ihL j¢£?sXfYbo]uhmjop` r Xx]fpTXKLXTV`eucaX r s?jdqWY`euoYdmo r X(opuxp`aX r `ajRd
(73) mX0jVXxdqc L¤ fgLTVbX[otfkm³ TVX(dquX0j fpxphLr X x´hm`a±ok`ao+fgfpTVfp`aW]XTX d.XL4ª LdmX0`iucedqfghmVx+caX[hqu¥hmfgj<TVfgX xphLxgcX`acajVX4lVdmbnjLffo ³ otfgd4`efgo'X fp4TdqXxg`eLdqX0VucafpX0hmo x'r hqX0 ogr uxg`aot`aVfpb`ijxpdmfpjTuX XL`ajVXTVlV`ebnufcaX o ³ WYca`amhqXfg`ihLkj `ij ³ r ´hm`aox | jhmx r X0xfghuhLjLfgxphLcCfpTVXLXTV`eucaX[ld4fgT ³ caXf~bo r X¬jVX dmjhLbnfplVbVf~X ><bd4fg`ihLj §qL¤ ' u4cidmXxp`ekdqdqVTVopcaX0X0hmxpo'caXbn`afpjKfpXTVfpXlTVh<Xhmotbnce`idqfgfplV`aj hmbnr j«f]`ijVdmmYj X0rlVufpThLd4dmx fpopfpXm`a`ijfpª b ucar b Xr X(o ª x0dª f opfgbVTVXopXLf]xphLhqbVj otr fgdq8fpxgXdmWY4dqX xg³ `edqkVTVcaX0`eouT«' ³dqxgjX!dqWYfpTVXXcas
(74) WYkhLot`ifpf T«`iWYfpTVlCXKhmxpmfgX0dmTVjL` f ¢±Xf~boIfgTVXj r X¬jVXfpTXW]X(dmopbVxgX r .dmxp`edqciX(o'dmj r `iW!dmmXhmbnfglVbnf~X ><bdqfp`ahmj § (¤ ' `ajucib r `ijV]fgTVXxpX0ciX04dqj<fk`iW!dqLX8X0d4fgbVxgX0o gª . . =. s B. B #x. =. sf. B^wB. x. . . s EBDW3x. . . . . s r BDA)B B x. =. A. . . t. . =. sr BDA)B x. .
(75). s x. ÁÁ Ë. *,+ -/./-. =ps. x. 3.
(76) .. #0' 19! 8$-. 34#.<
(77). . ,. $ . r r r r fgxgdLu¢±mXX f!r fpmTX(Xuj fghmfpxITVWYXX0fgdqxgjdLo'umfpX Tdqf dqX(jKot`ahmxpbnX fglV¤]bnmfkX(8uXfgX hmr xo dLCuX`axpo~X(otblCotX0X ur fp`admmj X0rcis jV'hqf~dmdqjj X0xpxghmx' P8d´XX j?r bVcadLcku.ndm¤ciª bXK`ajRfpTVX otfpxgbSIufpTVX X r #Ahm¼ xk%X(©o{ fg `i¼$W! £dqº fpX Vr ¸?½ sdmj8`aj?m/XLxop `i¸ hL%j ¼hq fpTVRXdqhLlVbnlfpxplh<bndmf~uT
(78) X ><dLbopdqopfpbV`aWYhmjX0o fgTV X!hmbVfplVbnf ' W!d.sX!xgX0uhmjn. §mm¤ ' dmj r fpTVX0jd r `eoguxgXfpXuhmj<fpxghmcaciX0xI`aokopX0dmxguTVX r 8hLxIfpTVXhLbnfplVbVf~XxgxphLx8X0X r dmu . ' ' § L¤
(79) ' ' kr X0TopX`ixgxgX
(80) X r dq`ej o'r fpTVdmX ufpfpb`aW]dmc¨Xhm`abnj fgr lVXbnvKfodmª j r fpTVXhLbnfplVbVf~XxgxphLx ' ' ¥`aokfpTVX[fgxgdLu<`ajV r ` CX0xpX0juXCXf{'XX0j xgogX0uxgdL`auSITVX TVX r Xr ?9?sÄsEd xgCXr L¸L`eogbVº ucexgd4VXfpfp`ajVX¸ ½ uhmdmj<j¶fpPxg hmhmbncaci/fgX0lVLxAbn8 f hL¸ xk8 bWY j¼ X0u dmfg `iophL¡bVj xgX dqr r l`ilVxghmX0xpbnuh<fgfpdmlVcaus
(81) bnT6f~XvndLX0lVxpopxgopxphmbVX(xWYopop8X0X Xor X r fp`ajÄTVdmXÄufpTV uXhLj<`ifpW!xghmdmcmXmhLªnz{|®X0f ufpW!`amd.X´s´udqX j r XX
(82). 3 . =. . _. s
(83) x. . _ = =. . A. . #%" 5s s. . . x. . s. x. . x. . . A. . _ = =. . . # . § 4Z<¤ `eo£fgTVX¥fgxgdLu?`ijV r ` :XxgXjuXACXf{'XX0j. #" s
(84)
(85) x s
(86) .
(87) x. r X0op`ikxgX TVr X0xpxpXX8[Xxg`ao±XjfpTuX+X¥`afpW!`aWYdqXALX[`aj dmr j Xr vdmdmjufpr bfgdmTVc¨XAhmhLbnbnfglVfplVbnbVf~f`aWYXxgdmxghmmxXLª . k k% 0 Y
(88) K L`eo±h?hmfphxhr fglTVuX0XTxtdm8lChLxghLdLxpW¦opu`fgfgXd+`ixghL`amjÄoth?fp`eh urdmoopXfgX h jVr hLTVbVuXhLmcaj<l!T fp`a`ixgj!W!hmcafpdqciX0TVLx XXA³ ca`afgdmj?TVjmXrXx`a`ajVopW!`i hLdqj lVmTX!dqdLj hLotr bnXLlfpªlh<SIbnotTXf X~ 8`elCo W!hLudqophL`a` jfgj`iothLu` j Tr dqX0dqxpcaj ciX X0rr jVmd4dLfpXkofphm`idqfp:bj¶fpr TVXX(`ev<¤±ofgxpuxgX(hmduj<hmopfpjXxgjo{hmfgcVopxphmogbxuuTVfpkX0`ahmW]`ifpj£T X ª SIopsnTo{X¥fgXX0Wotfpª `aW!d4fpX r lChLop` fg`ihLj`ao£fpTVX0j `ij<fgxph r buX r `aj<fphdmj d r dmlnfpX r mXxop`ihLjhm?fpTVXjVhmxgW!dqc `amT<fuhmj<fpxghmc. s
(89).
(90). . x. . . %- . %. $e5&. 4D+h&Q"X(S4f05+. gfSIhYTxpXkXfphmxgdmcaci`ioph4X0`amku'X+`a` jVr fp~TVX0dX fghhmu0dqfgTVWYfgTVX XXkr xd xpXX(¬lCujhLhL` jfgop`iX o{hLfg³ j xpdqbjhqur fpfp`ahmfpTVTVj XIX0WYopjKuXXfpfpjVTVTXIX h dqdmr j `ix`er oOux8fpxgd4Tdm©XkfIWY`ilX0j?h<omotX0lVX xgxp³ opX(`a8othmxgX0hmj j<W fphmX rfgfgTVTV`iXj Xk`i¬`aW!WYmdmbdmmxpmX[X XIhmhm³bnbVfpfgfpTlVlVXAbnbnf(fgfªTV xpX0XA³ `acejYdqj hmr x r`ijVX x lotfpcaxdmdqjVSI`aXmmTVªT<Xf'h4ci`aLjVXX0xodqcaW cfgbxgo{dmfIj¬otx8hmo{f'xgWYX[dqfpX`ahmv?jlxp8X(xpophLopW X r fp`aTVjX fg TVX¦`iW!8dqxLdqX~WY8XxdqfpWYhYX[fgTVdqXj r `aWYfpdmTVmX0X+j8lVxgxgdmhqWYz{X(Xu`efpoIX r fgTVhmXj<lVfgh xgh fpr TbXu`afkW!hqdq LX ÎÍÒ{̱Ñ.ϱϧÑ(Æ.ÆqÅϧÒyÇ.Ò{ÓPÒ¥Ì2Ç.ÈÍϱÈÍ Ë Ò{ÓPϧÈÍÅË+ÅÓ±Ï2 Å kÒOÅÌ2Ç.Ò{ÓÏPÌ®ÉgÌ2Ò¥ÒtÏPÌ§È ~ÉgÌ2ÈÍÅË~̧Ò{Ö®Ç.Ë(È !0Ñ.ÒAÈÍϱ"É ÉÈÍÎÊÉß.ÎÍ Ò # . . . 6 7. . ¿8ÀÁ£¿©Â.
(91) @.12= 23054B , , 4 #,
(92) 230 4 , 4 4 2 . ! "0. (. d]xphmfgd4fg`ihLjKdmj r fpxdqjopcadqfp`ahmj8xphLWµX0dmxtfgT8xdqWYXfphYcahnudqc£ ~ 8xdqWYX dqj r d]xghqfgdqfp`ahmjKdqj r fpxdqjotced4fg`ihLj8xghmW k 8xdqWYXfph]fpTVX`aW!dqLX+8xdqWYXLª r r r `ahLSIj?xpTm`amX]X0`axtj opfgX0X³ ur khmª `ij fpThmfgfpx[xgTVdmdXjChLot8lnXhmfpfpxgfp`eWYuXdmx[dqc:xgfpdqX0`ahmvnd j`ar o'dq`elCoVhm`ajVca`a` jLhmf{sfgxg`iW!³ jfg dqTVcaX!fgcish]uufpdmTVhLW]jXX0otdqxgfg`addqxj<ukf[xd4`idqca©cOfIj jVX!hLlopuxpXmhmX0ªyj<SIop`ahm` TVr bX[Xotxgcah4sX mr <X0xgTVjdmX0h4cixpkcCX xgj hqci~hnfgu0dq`ifd4fp`afp'hmX j2rhmbV dqc Wf+YfgCTVd.X]X!sYX0 dmfgTVop~`aXci js CxghqXfd4Xfgv?`ilhLxpj X(op «opX 8r xphLfpW Txp hLbVm¦T´fpfph!TX ykbV caX8x]xdqdqWYjVLX0ociX(³ o!k 8TVxg`ehmucaTc `eoI³ mlV`a`mfX0ujT ?s dqj r s<d. I¤[?sEfgTVXlVxgh r buf hqIfpTVX .
(93) .
(94) . § m¤.
(95) . . r ³ r m d j Ä d p x m h g f q d p f a ` m h R j 8 p x L h W k µ 8 x q d Y W X g f ¶ h i ` ! W q d L X 8 g x m d Y W X u L h p x g x 0 X p o l L h j `ajV´fph dÄxghqfd4fg`ihLjRhm r dmxphLbVj fpTVX²®dqv?`eo §qL¤. . ced4`afgj`ihLdqSIjcaTVcas³ X³ dLlCfpopTVophLhnX opu`ifpfp`ed4`axhmfpdqjX jr othq8khmxgfp`iW!fpTVTXd4fgfgca`aTV`ijVhLX jX0okdqdq`a`axgjjur xgfpdqTfg©TVXfkXl`ijEW!h<fpotdqTV`iLfpX X`ahm?8jxg`admop`a`ijW]hLjXfgTVrhmX bVXlC fplVXjbn¦fr o~8xhmIdqjKWYhmfpjVXTVca³ `es okkrxg` hqfgXTflCd4Xufpj h?`ahmr hmjx hmr dqj`aj jfgrd4TVfghLXYX0jKo dq`afp)xgTVuX[xgdqfg©xgf+dmj o{g ª lChLopXSITV`eo'g`iª W!dmmX~8bjufg`ihLj`eohL?<`ahmbotcas jX`ifpTVX0x'ca`ajVX0dmxjVhLxAV` z{X0ufp`amX ³ dqj r `ajldqxpfp`eubVcedqx ³ dLootfgdqfpX r dmdmlVlVh4LxghLX dL³ ufpTTX]`eocahmujhmmj`iopfp` b r r Xxg`ajX rdmcTVlCXhLxgopX `i³ fp`ahmX0j cicd) r ~dmlndqfpcahmX rjVfgh!fpTVfpXYTX xghLlVd xgr X0opuXdmj<jVf+jVuhqdLf[otX CX]dmj xgr XfgX0xp`adLXotL`aXX xkr ª fgh`aj´W]ldmcilVX0lVW]xgh.X0vnj<f`iW!`ijd4fgd X xgX0dmc¨+dqobnfgd!hq¬®lVxg`iotcafhqf(otªfpX0l ³ fpTX xghqfgdqfp`ahmj R`eodqlVlVxgh.vn`iW!dqfpX r fghdci`ajVX0dmx8hLxpW 8hmx[opWYdmcicOdqjmcaX0o ³ uhmxgxpX oplChmj r `ajV]fph!dmjdm`ixuxd4©fkdqj r u0dqWYXxdYdqcaxpX(d r s!jVX(dqxgcisdmci`amjX r k` fgTfgTVXcedqj r `ajV]¬X0c r " § Gq¤. . SITVX0j ³ dmuuhmAx dmr j `ajVr Kfph¬LbV xpX dmj r ³ 8khmx TV`eX(udmTuTÄdqxgcaX`ijVlX xphmz{' X0ufgX r `i(.jK$fg TVX ³ `af{WY'dmhKmlCX[hmlV`aj<cedqfgjVo X dqdLxgXYo~]uhmljhLop`i` j<r fXo xg³X r¨³ dmj r ³ k'`ifpTuh?hLx r `ajdq fpX0o ' § L¤ X><bkdqc:TVfgX0h xpX `aoIfgTVX[8hnudmc¨ciX0jVqfgTdmj r fpTVXldmxgdmWY XfpX0xgo ydmxpXuhmjotfgdmjLfkdqcahmj]X(dmuTci`ajVX dqj r ' ' . § L¤ . :. . :. . . . -:. M6 :. -657. V. w. w. =. w #V XV. XV V. w. 3W w W. *W. w. Y. . hW. 3Y Y. w. w. W. w. Y 3Y w. w w. :. . . w. w. w. w. w. =. w. w. 6 7. . s B d $ B x 7. s x. s x. Ks. x. . Y. Y W. V. . =. . s rB. BDw3x. =. . ". . . s. rB. W -V. s =. . XY # XW. =. s. =. =. =. *,+ -/./-. '. # XY W X. "'=. . '. ÁÁ Ë. Sx. . BDw3x. . B. V V q s $Y~. B. x. $q. . UV#$. Y~. !. XW3x.
(96) 0Z. #0' 19! 8$-. 34#.<
(97). . 'bnf ³ ?s r X¬jV` fg`ihLjhqfpTVXca`ijX dqjVLciX. . = ! " . md j r¨³ dmjdqcas?²`ajVfpTVXmXhLWYXfpxg shq:fgxp`edq jV LciX fgTVX uxghLogo'lVxgh r bufkhqOmX(ufghmxo ¦dmj r. 3W. . s. . . B
(98) B d " x. =. $. . . . !". ! " ! ". . (¤ $. . . . mL¤ ³ fgTVX r `eo{fdqjuX kW!d.s CX~XvnlVxgX0ogotX r fgTVxgb. W. !". caX0d r `ij fgT?boIfph. $ . sbW x . :. . ,. . Lm¤ xgXced4kfg`iTVhL`ej uT ³ `i fgTVX
(99) dmopu`aogogd `eoLxpX(d4fdLouhmWYldmxp X r fgh«fgTVX
(100) hmfpTVX0xfgXxgWYo ³ L`iLX0o!fgTVXExgX r buX r L¤ ! SITV`eokxgXced4fg`ihLj`eokhmnfdq`ajVX r 8hmx~dmcic:fgTVxgXXca`ijVX(okdqj r xgX0opbVcifgoI`ajKdYW!d4fgxp`eu`edqc:Xv?lxpX(opop`ihLj
(101) qZ<¤ . 8xghmW kTVXxgXfpTVX[xghmcac£dqj r sLd. dqjVLciX(o ¥W!d.sCXxpXfpxg`iX0mX r
(102) W. . 3W. . =. . . $. . . . Y W. hW 3W . =. $ . . &. hW W W. 3W 3W 3W. . W. =. Y. . W. . Y. =. W hW
(103) W . . . s WBDY#x. . $. 3W 3W . W . . m¤ $}. kC+`ijfpuTKXIfpfpTTVXXIbf{'otXhhmdqjVd]LcilX(opoOXTb d.r mhqXI®`iCj?XmX0X0j]xgopX(X o{.fgª `iW!dqfpX r dmj r mXfpfp`ajV[dmu fph[fpTXkhmbnfgXx¥lVxgh r buf¥X ><bd4fg`ihLj PX >Cª LL¤ ³ `aj<fpxgh r bu`ajV]fpTVXXvnlVxpX(opop`ahmjohqOldqxdqWYXfpXxo ym`amX(o ' . ' $ mL¤ ' + ofpTV³ XYs?`idqX0Cc r h4omX X ><bd4fg`ihLjEW bo{f[CX]4dmci` r 8hLx ³ dqj r `eothLcadqfp`ajVfgTVX xgXW!dm`ijV`ajVKbVjV?jVh4kjo. À±Å̧ҥÌ2Ç4ÉgÌÌ2Ç.ÈÍÏÓPÒ{ϧÑ.Î ÌÈÍÏÅß0Ì®ÉÈÍË.
(104) Ò ±È Ì2Ç.ÅÑ(ÌyÉË aÑ.Ó8Ì2Ç.Ò{ÓOÉϧÏ2Ñ kÆ(Ì2ÈÍÅË.ÏÌ2Ç4ÉËÌ2Ç.ÒAÎÍÈ Ë.Ò{ÏßqÒ{ÈÍË ~Æ4ÉÓ2ÉÎÍ Ò{ÎnÅȨ̈Ç(Ò Ó2ÅÑ.Ë YÉË Ì§Ç.Ò~ÉÈÍÓPÖ{ ÌAßqÒtÈÍË ÉÎ kÅÏ2Ì¥ÉÎÍÈ Ë(Ò ±È Ì§Ç Ï ~ÉÎÍVÆ.È Ì2Ö®ÇYÉË É ¶ÉË ÎÍÒ{Ï #ÀÉ kÒ{Î <Ì2Ç. Ò iÅ0ÖtÉÎÎÍÒtË Ì§Ç ÉË +Ì2Ç.ÒyÓPÅÉ ±È (̧ÇÉÓ2Ò¥Ë.Å̱Ñ.Ï2Ò
(105) # . s. s d $ B rB^Vrx. B. B \x. . V %$ V . Qx. W =. s. EY. . . $q. Vrx. 3W . s XW. s . Y#x. . $. *='w. ¿8ÀÁ£¿©Â.
(106) @.12= 23054B , , 4 #,
(107) 230 4 , 4 4 2 . ! "0. s SW Y . $. W. XW. \. W W 'Y $. $. '. W. Gq¤ |®dmfj rW!kd.fgTVTVsK`eXuCj
(108) T XY³ hm8otnhmhLfxAcidqLfp`aX TVjVr X+`ij?fpTsxp`ijEX0dX~f{ca`ixpjVh<hX(d dqr hmx+x~ca``ifgfgjXTVX0xxgo d4X³ fpX u`amhmotX xgfpxpX0W]X(lotoXlCfphmdqTVjj h r r¨X(oOo{³ fgfpdL`ih]W!opopd d4bVfgopWYX Xf`a8jVhLhmx `afgjVTV`X X fg><`admbxgciXdqcaW!sfp`ahmdmd!j`ijV²0oA`aXjVkxgh` fguTxghmhmfgWYcaTVclCxpdqX0hmjXjVmX0bVcaXjLjf<o~jhmh4¥kfpjTVoX ³ª `aW!dqSILXTVX[lChLhLopbn`ifpfplV`ahmbVj fIhm£fpT X`aW!gdqª LX+`aj?mXxop`ihLj!¬jdmcicas!m`amX(o¥fgTVX[X0otfp`aWYdqfpXhqfpTVX[`aWYdmmX8xgdmW]XlChLop` fg`ihLj xgX0opbVcifp`ajV]8xphLW fpTX dqCh4mXlVxphnuX0ogo r r r TlCdmhLo!op`iSIfplV`aTVhmxgXAh4jKmlVkX xpr hnTVuXfgX0jKh«ogo fpCTXXX0ogPxpudqhLxg`aci`ixpc£CcaXsdmjVxgm8hmhLcaX+x¨b`afpjo{TVfuXAxpdm`iX(j?jdmmopr X0X0xgo'dmop`auhmTVX0j`asmXhLhqLj<X0fpr o!TVogX¥dmd.j6`as W!dmdqu4Luª XObVdmxdmj us X0othmfpjV`aW!cas d4fgxg`iX hLr jbhmuXLr fgTV8XAhLdmx`ixxpuhLxcid4c+©f¨dqjlCr hLop`¥fg`idLhLo{j f W!d.sC+dmjcauopXyh]fpTXXX(dqo{`afgx`iuW!xd4d4©fgf±X lCr hLdqop` j fg`ir hLjfgTVTXdmxpo±X0ciX0X04Xdqj j<X(f~o{fgu`ihmW!WYdqlCfphmX rjVX08j<xphLfgoW fg TVXA? `eotA`ahmu`jfgX hLr bnfpdqlVCbVh4f m³ X fpTXdq`axuxd4©f£lChLop` fg`ihLj . KV. x$qqs V. '. . 3W. . . . . . )x. . s . xSVt=. $. . Ms Vt=qwx. s$ B rB^Vrx. . =. . wB d $ B QB VB WXB Y. 6. s rB B.
(109). . x. =. = $. Y. -. W!d.sCXbopX r `ijKfgTVXmbV` r dmjuXdqj r uhmj<fpxghmc:hqfpTX dqbnfghmW!d4fg`aucedqj r `ajVª % . | j otX( ufp-`ahmjRnª Z ³ fpTV³ XVh4bnmf[X08xgxpdmhLciW c¥hLfpbnTfpX0lopbnX!f]hmLbnX0fgulVfpbnhmfx 4bdqopxgX `ar dmV?cis
(110) X(ofphmTVjVX casE`admT<otf]bnuhm®opj<Xfpfxghm`eo[caciX0ci`ax mX0Icisdmo fphr X¬XYjVX TVr X0cilCdLoX r ' ?s fgopTVlVX]ca` f~`iW!`aj<dqfpLh X hLbnfplVbVf0ª VhLxfgTVX]dmjdqcasnot`eo~hmyfpTV`eo`iWYlVcaXWYX0jLfd4fg`ihLjEWYXfgTVh r¨³ fpTVX]hmbVfplVbnf[mX(ufghmxIdmo cih4`aImT<®cafXmotX0X0jc ophm`ixLo T<f.dmxp`edqciX(o ' ( ( - fgh¶XX(o{fg`iW!d4fgX r hmjVcas¶8xghmW fgTVXd.4dq`acadmVcaX mkbVTV` `er udmTj8uhLXxI4fpdqTVxgX`edqlVxpcaX(X0oto X0jL' f~u0dmopXu hmjop`aot fkhqfgh!fpTVX XophmX(o{caXfg`iW!udmdqW]fpX X0r xgd]8xgdqhmj W r `ifpfgTVokX ?op`elot`aX(hmujK`i¬hmu[bVcefpdqlVj bnr f(`aª jVopXjophmxo ³ ¬SImTbVX C+xgX ?`a?nm`iªT<hLfIbdqopcibns fg³ hq®d4lV©fg`icaXhqx]fIfp`ehLo¥bfguT<T br oh4`akWYj lV³ caXfpWYTXXj<dqfpbnX rfghqdL®lVu`iucahmhqxfYr `e`io!jotkfph `ifgfpuTVTVXX r xgX08uxghLhmjW otfpxgfpbTVuX fg`ihL`aj mT<fcahnuuhL j<fpxghm`edqcaciLX0xgx dmW$fghÄhmd LWYxpX0hLjLbVfj rdmcihLujVhmj< fpfpxgTVhmXcaciX0xgx hL³Cd r r X0d4op`avnm`ejVoXª r fphopcah4 r h4kjfpTVX]dq`axguxgdq©fkTV`aciX]mX0XlV`ajV!fgTVX cahmjm`ifpb r `ajdmcdmci`amjn - b ?;. 05(S4f234 05+. -$(&r,. $+-, 4. +-e. 05+h2S"X05c c &Q". . H. B QB B^V)B B DG H. . . . . . . . . . =. v. z=. =. ?;. H. B BVXG H. ? rB B DG H. . . :. ÁÁ Ë. *,+ -/./-. d7.
(111) (. #0' 19! 8$-. 34#.<
(112). . ,. $ . Low-Level Flight Sensors. Path Reference. Flight Controller. system dynamics. System Output. Landing Sensors. Reconstruction. `iLbVxpX Owh<ot`ifp`ahmjn®dLotX r hmj<fgxphLc cahnu `edqLxgdmW "
(113) k_ k% |jjEhqf[hmlVxpXlC>LhLbop`i` xgfgX XdmfphjdqXvnoplVhmca`acaubn` fpf X l$h<otxg`ifpX0`auhmhmjVj`aotjVfpxgbWYufgX`ifphLTVjh rhqAo ³ fpfgTVTVXYX op`auW!XjVdqXLLªX®SIdmTVopX X rdm?op`a`aopu b`dmr cX0opdXxg`emo+hmfp`ahjVYdmogWYotbXW]fgTVX h rfpTr dqh?f[X0d o f`ajdmopfg TVX[u0dq`ijYW!dmXmXm8ªObVcaSIcisYTVX+otlCfgX0dLuot` !¬X kr `aci`ac:jYCfpX+XxglCW!Xxpoy8X0hqu:fpfgcaTVsX dmr uTX(ot`iX0`axpmX X r r ukhmjVTV¬XjKmbVotxbd4ufgT`ihLd j uhmhm£jnd ¬otLXbVf¥xhqd4fp¨`amhmX0jhmkWY`iXcac:fgxp`eu'X8xpX0X(dqdmfpubVTVxgX X0r o uogXdqxpW fgdmm`ijK ®ª¥hmbn| jfglVfpbnXfkxgW!8bVokjuhqfpO`ahmuhLj jLr fgxp`axghLX0c u³ fgfgciTVs `eo~r Xu¬dmjjX Cr X[`ijK8hmfgxgTVW XbV`iceW!d4fgdmX mr Xdm8okxgdmdYWYlVXmxgª hmciX0WµhqxpX0mbVced4fg`ihLjfgh]²0XxghYhqd dhLLxpo+`aXd¢±j<XWYffd4X0fpu`abhmTojCdm¤ujVhmhm`euj dqop cy` r op`eXo±snxo{dmfgjfpXTVW X0X´ciX0kWYdq`a`iXxpfpCj<TÄfhmotxgX0jVmXEhqXxu0dqdqcWYdm Xuxfp d b dq fpX ³ r
(114) kudmTVr xp`eXxguL`aTX xpr X0`ao±X0?o+dksRhqot`iv fpTV8r xpX´X0`aWYX dqr X`ahLxgjuWKopxg`adqª hm©jfSIdmTckX]r TV` `elCCuhLX0T xpopX0XujLdm 8fgj6lC`admhLcqopW!` X
(115) fg`idqhL?jVj
(116) `i`iX08hmdqjc X r rr ª uog¡uTX0dq`ijVj<xXmdmfgXª¥uxfgdmXuxghL`if²0xpoAX0X0ko h4m`ifpfpX0TTKx X³ `icafgxpXoIX0fIcaXdqbj?fpoI?`am`auxpXhLhLjjVlCopWYhL` r opXX0` j<fgx¥`if0hLfgª j T
(117) Xd4hqf' fpdLTV opXopbV`akjnWY`8fghmX~T xgW!fgTxpX(d4d4otfpfIlC`ahmfpX0jTufX`ij`afpW!hÄfpTVdqfgX[LTVX+`aX
(118) WYL `idmLmXX+jWY?8sd.xsYdqµWYCX+X 2otWYX0dqXfth fg¬r dLmX0ubVciTVX xgX r X r dm.fgo'¤yh¶d 8bfpopciTVXcas Xf fghmr TV` :X[X@`ixg.1W!X2=j<dm fpm`eX[dq.1hqMci, X[fpW!TV.X dqulVTldm`ixgjVhmdLYnufgz{8xgXX(hmxgu`iWfg²0oI`ijVC [XcafghmTV jXm m`ajV X]hLWYfpfgh]XhfpfpxgTV`euIX ªA8ogX0udqX0ofpjVbVotXmTVxgª X0h4o¥kkdLjuTVT`aj`euX0TciX(X0xpotWYX(l ot<Xbj< c fgf³dm8xpfpxpsTVhLX[W op`ifgL`ifgWYjTVdqXX c lVr xpX0hmxpz{`a4X0d4ufpfgr `a`ihmXL¬j!XjVhmhmX0j<okfgdh u0dqjKXXvnlVxpX(opopX r ?sfpTX opuxpX06lVxgh r buf L¤ kxgX0TopXXj<xgX foA fgTV`eX okoguudqxgcaXcaX r lfpxpTVh X r b, u0 f0$ª M!0'94#, .! $ y³ `aoIfgTVXmX0cihnu` f{soguxgX6hmfgTVX udmWYXxd dqj r xgXln 8 xg!-hm0'W 9¢±4#X, fpfkTV bXo' `aW!0*jV 1h4
(119) dq :6L¤ X dm³( ogfg
(120) opTVbVXkWYj T³X hL8xpophLX`eW oIxgh4d X~q><oIbr dqdq`axgfpWYX[`ahmX`ij j<jfpopX0`ahmxgjdL³ udmfgcX `imhLu0X(jdqufgjoghmuxgx'r XXhq~¬±ojV`ajX[r fpX0TlXX0`ij W!r dqXj<L Xfk? m`adLopubhLdmVc:`aopdm`aj
(121) mj 2dmothmcao'®u0udqhLcajciX o{r fgxpb, u0 fp$X r ,. . Q:. 7. . 7. . (". a. . . a. . 6 7. . . . . . }7. a. 6. a. . (. = . . . J. . . H. B. ' (". s x. $ !. H.
(122) !. = . /. . hH. . . !( H B H. L¤ $ . ¿8ÀÁ£¿©Â.
(123) @.12= 23054B , , 4 #,
(124) 230 4 , 4 4 2 . ! "0. #G. dmuhmciLjXopV` rjxdqXdmxI`euKjfgdqTVucabVX s<xgfpotm`eXuX(f~dmo!c¨hquOXdqvnmj lVX0xghmCX0WYXogotX`arfghmxpX0j`expu`a8mhmlX xIxpr `afpWYT 8`8Xfghm`i`ixLj<X0fpWYokX0xghm`adLjKxguX fpfgTV`ir hLX XjfgdqW!¡`aced4o opfg³ uxpXop`ivXjVX Xk`eTVxgo~`aX0 ujLhmjfgTV8ot¤fpXª `ifp`abnWY| fgj dmX mr hLXbV?8x!s!X0dqlCfpfpTX0bVuXxgbX0fpciokTV`edqxgdmxXxpX[Xu0dmcemdqopX0j X jVr³ X`ixjVdqX c otfpxdq`amT<fIci`ajVX(oª L ¼ # ±0n% $¼ L ¸ ¼ ¶ ±¸ ¸ 4Vm ¼ Än0 V ¸ ½ ¼ 04 $ ¸ ¸ 4/ L ¸ j¢±hmXfxgWYbdmo!otci`afpu²xhmX dqrj`amop`aT<` W!r fXdqx!cam`ijX[TVXX0lVxpce`iX(dqjRd4j©fgX[fgTVXdmXx!xpX[ChqXfpv?TRlopuxpfgX(XTVopjVXopXX rci`e`aojV`ijKX(To!XfpxgT`ijRXX xpfguX0TVdqlVXWYxpX(X0otxgX0d j<8ogfpxgXudmX0r WYjVXdmX o!dqfpj (TVr ª Xfp`aTj<Xfp`aX0xxgoplVX0xguhqfpz{`ahmX0j ufp`ahqhm[jRf{`i'jRh´fglTVcaXEdmjV X0o r X0oguxg`iCX r `ijKfgTVX`iWYlVca`eu`ifk8hmxgW. YotbuTfpTd4f ' . PZLL¤ ' fgkTV`iXfpT ciTV`ajVhmX WY³ hmdqLj ~Xr jV`aj X0hmhLbr x X0o'r jVXuhqxh?fghLfpX0hx okr Xd]`avVjludqcadqfpb X0xr odqX³ WYXr XvnXfplVLXxgXxgX0jV`a²0ogX0otd4xgX fgdqr`ihLfpX `ijjr hmu0fp±TdmfpopXTX0u0o0X dqª±WY| ¦jXxfgcadTV`ijX08X0opxoIX'dqWYW!X ><X dqb³ jVd4hm`ifg8£`ihmhLfpc jTVr oXª ³ lChm`aj<'fgoIcas?`i jV]r hmX0jVjhqfpfgTVX0Xo kxg`iftSIfpX0TVjX!`iX j><bdqd4jfg`i`ahLW]j´lcihm`eAu`ifgfkTV8Xhmxg W µ lVxphmz{X0ufpX r Yca`ijVotX!buhLTj<fpfghKTd4fpf TVX`iW!dqLXYlVcadmjVX PopXXY¬LbVxgX .¤[udmjÄdmcaophX $
(125) . . 0 ] k i ` p f T PZ (¤
(126) . $. '
(127) $ khmITfpXTVxgXX µlChm`aj<fgo ' cis? `ajVr X0jVhmjÄhqfgX0fgTVo+XfpT X TVcahL`iWYjX hm³ mdqX0jjVrXhLbor uX0h?jVhmhqx rfgX0`ijo d4dfpX(lo~dqXxv?dqlWYxpX(XfpopXopXxg`ar ²0d4`ajfg`ihLfgj
(128) TVXYhmIudqfpWYTVXX0xg d!µlcacadm`ajVjVX0X o ³ W!lChmdmcejVdqxk` 8hLuch<r hLªx r| jK`ijhmdqbfpX(x'o lCX0ubVcag`admª xIu0dmopX ³ 'XTd.mX+uThLopXjfghYldqxdqWYXfgXxg`i²0X~fgTVX[lVxphmz{X0ufpX r ca`ijVX[?s`ifgo LXjVX0xgdmc8hLxpW hqfpTVX`aj<fpXxdmufp`ahmjKW!d4fpxg`ivW!d.sYfpTVX0jKCXhmVfgdq`ajVX r 8hLxkX0dLuTca`ijVX % #". }7. . $z(&. 0 t( 23$4fehg52KcD4 +-&r(. . . . 7. & 7. . Qs B P x=w. rs. BbP x=. . . . . . . _. `. ]7. . _. _
(129) =w `
(130) ` =. . `. w. ` =w. }7. 7. P. ]7. s . s . B. xz=. . . 3W-. =. s <B. B. s r B. W. B
(131) B. x. t. . B
(132) x=w.
(133). =qw. 3W =. W =. . =. . }7. `. _. _. =. `. _. _ ` _ . _ . `. `. `. _. X. _. _. x. ]7. 7. ]7. . ]7. s B W3x. (5H<= ? 3W (5H = ? 3 W. . .
(134) W
(135) W. . . . . s . SW ` x
(136) W. s .
(137) W ` x 3W. G. w. G. PZ<m¤. k `ifpT
(138) 0 $ dqj r
(139) $ ª fg'hX fp|uTVjdmX~jfgLTVxpotX X0hLcibVX(lVj uxgfkr X0opfpxpXTX0j<XlVfxp8X(u0hmotdmcaX0cioph4j<XkfphqX `arOjV!fp?TVs4X fpr dqT`abnXkWYfglVhmXcajW!dmopjVd4`ihLfgX `aju[dqcec¨dq ?j `er otb`ijVdq c£³ op'`iL' X jdqdmc£ogotLbX0W]ufpX hmx fpTdqf~fp`aTVj]X fpfpTVTVXxgu0XdqX WYX¡xdca`i8jxgX0dmokW]CX X³ cadqhmjjVr ³ uhmxgxpX(otlChmj r `ij fphYfgTVXlChmcedqxkuh?hmx r `ajd4fgX0o'hqfpTXxp`amT<f ³ uXj<fpX0x~dqj r caX©f~ca`ijVX(okxgX0opl X(ufp`a mX0cisLª =. s. `. W. `. 3W3x. `. =. s. `. SW . `. . _
(140) . W-. ` x. `. }7. . ÁÁ Ë. *,+ -/./-. _ . _. _ =qw ( ='? W hB 5B W. B. B W. . B. . GH.
(141) #0' 19! 8$-. 34#.<
(142). (!. ,. $ . IS TVX `ij<fgXxdmufg`ihLjW!d4fpxg`iv ( `aod !W!d4fpxg`ivbnf ³¨r bVX fphfpTVX ldqxdqcaciX0ci`eopW CXf{'XX0j fgfgTVTVX]Xj?ci`abVjVcaX0c¨ootl`ajdmufgXTVX!hqop(uXjV³ X ³ Xk`if¬`ajor jVhmdmf+Ldq8b`ajYcicOfpxTdqd4jVf hLjVcas ¬ mX ( r XmxgXX(Voyª hq±8oxpX0lVX xgr XhL?W$`ihLbdmxpopX~cisxgX0o{fdmd4cicafgsYX r¨uhm³ j<ufghmxpWYhLcilVcaXbnr fg`ijV?s fgkTV`iXfpT<`efpopTV`ihLX[j hLjVr cid4sYfd ?³ `eotdqbj dmr c:fphmTVbnXfglVcahmbnjVf0ª¥L` +fgb or fp`aTVj`edqocC8WYhmxghq'fp`admhmx j
(143) r PopdqlCcaXhmX jr hmfpxTX+fpTVceXdqj dmr `ix`ijVotlC]Xo{X fgr xp`a`elodqxgX0v?op`elCo¤yhmj`eoop`ijhqcifXhL8hmx'opXfpxgTV.XdmVca` ca©Xf 8ophLXxgjuotX!hLx dq³ j dqr cahmfpjT? bko `iWYfpTKdm`ifpj<TfXdq`a<j`eo[opbfpdqTc¨XhLdqbn`afpxglVubVxgdqf0©ª f[`ajÄfpTXdq`ax ³ fpTVXdm`ixotlCXX r otX0jothLx`aofgdqLXjÄdmo dKcedqj r `ijV hH. =. #T. . s hHx=. 5H. ¼ # £% ±¸ ¸ ¸ ¸ ¸ 4 ¸ q ¼ ¹ ¸ 9Ä C¸ # V ¸ u`e^noIhm`ijj?bumopXXX0rxtdfgX?ur s!hm`aj<fpjLfgTfgxpX h hLcudqhm`aj!j´j<`afgW!fpxpTVhLdqX!ciLcaXX~`ax(W!ªxpXdq| 8LjKXX]xgfgXTV`ejoXubXk?op`afpX oph r£bdq³c£XfpTopuXX!hmxgWYmlhLd4l`ifgjdmT
(144) ]xpX xgdmr XlV8kX0lVxp`xgX0fghLjT!dmuufpX]TTX³fphfg?TV`aCX opXYbudmhLfpcVxjLdmhmfgubnxpLhLfgXlVc¨r bnhmfkn<z{dqsX(j ufprfgTV`iLXfgXTVuX`ehmjokj<otfpfpfgTVxgd4hmX+fgcaXciXX0r xgx[xphLdm`aoox fgceddqhj xpX0fpr xm`idqjbVj]ced4opfgce`ad4jK`ihLfpX]jfpX0fgxpfpTVW!hXKoI²0X'hqxgOdqhxp`aWYfphqX(Admotdm`emdqjX+j´8hmX0xgbndqXfg8fplVXbVxgbnxgXfX0jo'8ubfgXYxgjdqfpuxz{fgX0d4`ihLuz{fgX(jhmufgxg8hmsmbVxgªcacissuXhmv?xglxgxpX0X(oplopophLX j r r `a`ajjVKfpTfpX h`afpWYTX!dmm¬X jopdmlcAdLdqulVXmlªxp^nh<h dm³uTEX CXjV8XhLX xpr X lfgTVcadmX jV´Xu0XdqWYkdmTXogx`aopudbVT WYdmcuXIfghL` fpfgjLTVb fXdqr `aX 'jo dm xtfpfgTVX0'Xopdq`admjuj Xr j<xgfplVXx8`idqX0fguxpcIT
(145) X0caj`ijdmujVX'XKmfghmcaxgX dqz{+fgX0TVuXfg~hmcaxgopdmsbj ufpr Th`ajVCfp´TXdqotd[ffpxglV `alcedqj dqx¥3 ubxpL X dmrj Xr ¬+ jlX dqr xdq`aj WY3 fgXTVfg XX~xgL`i+ ²0XX xpr fpdq`euj?dqrs c. (. ( + ( + ( kTVX0xpX 3 r XjVhmfpX0o fpTXCXm`ajVjV`ajV
(146) hqIfpTVX r X(opuXj<f dqj r ( fgTVXfp`aWYX hqOuhmj<fdmufkk`ifpTKfpTXcadmj r `ajV!o{fgxp`al´ 8fphLbuT r h4kj¤ª r + p o p o V b Y W i ` j p f T X e ` t o g f q d j u X ( Xf{X0XjfgTVX hLbnfpX0x+ca`ijX0o+hqyfpTX cedqj r `ajVKo{fgxp`al`eo?jVh4kj ³ 'X udmj uhmWYlVbnfgXfpTVXxgX8X0xpX0juX[`aWYdmmX8X0dqfpbVxgX0okdLokd 8bVjufg`ihLjhq - + $. . . rs y y . . x. =. y. . . . Qs x hs y x=. y. . 1s $ = w3x rs y x=. hs x y . . 5s y x5=. [. [. hs Qs xDB 5s x x . k`ifpT. s x='? W s x s xQW s x s xrW. .
Documents relatifs
AMC PAPI : Spécificités du contexte torrentiel – Rapport de Phase 1 Page 18 sur 46 Dans le cas des laves torrentielles, on peut résumer les conditions nécessaires au
Gillard, “Combinaison de la DG-FDTD avec un mod` ele de substitution pour un calcul de dosim´ etrie locale dans un probl` eme variable et fortement multi-´ echelle”, dans 18`
Le jugement porté par les femmes lettrées sur leurs soigneurs doit donc être nuancé en fonction de la personnalité de chacune, de la gravité de la maladie,
3.3 Processus d’alimentation d'entrepôt de données : Nous devons extraire, transformer et charger les données à partir des sources précédemment citées, dans l'entrepôt de
« On ne fait pas que des psychothérapies en clinique/…/On en parlait encore ce matin : est-ce qu’on a le temps de faire des psychothérapies, parce qu’on voit les gens
L’archive ouverte pluridisciplinaire HAL, est destinée au dépôt et à la diffusion de documents scientifiques de niveau recherche, publiés ou non, émanant des
« La prophétie, ou interprétation et conférence des Écritures se fera par les ministres du Colloque, en l’assemblée où chacun dira la tête découverte ce que Dieu lui
Pendant six ans, jusqu’au premier janvier 1568, le clergé de France doit fournir chaque année au roi l’équivalent de quatre décimes, un million six cent mille livres tournois,
